#pragma config(Hubs,  S1, HTMotor,  HTServo,  HTMotor,  none)
#pragma config(Sensor, S1,     ,               sensorI2CMuxController)
#pragma config(Motor,  mtr_S1_C1_1,     motorD,        tmotorNone, openLoop)
#pragma config(Motor,  mtr_S1_C1_2,     motorE,        tmotorNone, openLoop)
#pragma config(Motor,  mtr_S1_C3_1,     motorF,        tmotorNormal, openLoop)
#pragma config(Motor,  mtr_S1_C3_2,     motorG,        tmotorNormal, openLoop)
#pragma config(Servo,  srvo_S1_C2_1,    leftservo,            tServoContinuousRotation)
#pragma config(Servo,  srvo_S1_C2_2,    rightservo,           tServoContinuousRotation)
#pragma config(Servo,  srvo_S1_C2_3,    servo3,               tServoNone)
#pragma config(Servo,  srvo_S1_C2_4,    servo4,               tServoNone)
#pragma config(Servo,  srvo_S1_C2_5,    servo5,               tServoNone)
#pragma config(Servo,  srvo_S1_C2_6,    servo6,               tServoNone)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

/////////////////////////////////////////////////////////////////////////////////////////////////////
//
//                           Tele-Operation Mode Code Template
//
// This file contains a template for simplified creation of an tele-op program for an FTC
// competition.
//
// You need to customize two functions with code unique to your specific robot.
//
/////////////////////////////////////////////////////////////////////////////////////////////////////

#include "JoystickDriver.c"  //Include file to "handle" the Bluetooth messages.


/////////////////////////////////////////////////////////////////////////////////////////////////////
//
//                                    initializeRobot
//
// Prior to the start of tele-op mode, you may want to perform some initialization on your robot
// and the variables within your program.
//
// In most cases, you may not have to add any code to this function and it will remain "empty".
//
/////////////////////////////////////////////////////////////////////////////////////////////////////

void initializeRobot()
{
  // Place code here to sinitialize servos to starting positions.
  // Sensors are automatically configured and setup by ROBOTC. They may need a brief time to stabilize.

  return;
}


/////////////////////////////////////////////////////////////////////////////////////////////////////
//
//                                         Main Task
//
// The following is the main code for the tele-op robot operation. Customize as appropriate for
// your specific robot.
//
// Game controller / joystick information is sent periodically (about every 50 milliseconds) from
// the FMS (Field Management System) to the robot. Most tele-op programs will follow the following
// logic:
//   1. Loop forever repeating the following actions:
//   2. Get the latest game controller / joystick settings that have been received from the PC.
//   3. Perform appropriate actions based on the joystick + buttons settings. This is usually a
//      simple action:
//      *  Joystick values are usually directly translated into power levels for a motor or
//         position of a servo.
//      *  Buttons are usually used to start/stop a motor or cause a servo to move to a specific
//         position.
//   4. Repeat the loop.
//
// Your program needs to continuously loop because you need to continuously respond to changes in
// the game controller settings.
//
// At the end of the tele-op period, the FMS will autonmatically abort (stop) execution of the program.
//
/////////////////////////////////////////////////////////////////////////////////////////////////////

task main()
{
  initializeRobot();

 waitForStart();   // wait for start of tele-op phase
  while (true)
  {
	  ///////////////////////////////////////////////////////////
	  ///////////////////////////////////////////////////////////
	  ////                                                   ////
	  ////      Add your robot specific tele-op code here.   ////
	  ////                                                   ////
	  ///////////////////////////////////////////////////////////
	  ///////////////////////////////////////////////////////////
#if 0
servo[leftservo] = 127;
servo[rightservo] = 127;
wait1Msec(1000);
servo[leftservo] = 0;
servo[rightservo] = 255;
wait1Msec(1000);
servo[leftservo] = 127;
servo[rightservo] = 127;
wait1Msec(1000);
servo[leftservo] = 255;
servo[rightservo] = 0;
wait1Msec(1000);
#endif
#if 1

    if(joystick.joy1_y2 > 20)
    {
      servo[leftservo] = 255;
      servo[rightservo] = 0;
    }
    else if (joystick.joy1_y2 < -20)
    {
      servo[leftservo] = 0;
      servo[rightservo] = 255;

    }
    else
    {
      servo[leftservo] = 127;
      servo[rightservo] = 127;
    }
//wait1Msec( 100 );
#endif

    // Look in the ROBOTC samples folder for programs that may be similar to what you want to perform.
    // You may be able to find "snippets" of code that are similar to the functions that you want to
    // perform.
  }
}
